clear all
clc

addpath('../core_f','../core_ransac','../data_gen_gt','../data_gen_synth','../data_gen_real','../core_matching','../core_lowlevelmisc');
outlierratio=0.1;

[ F, ks,ps , badpoints,corrs, FFormatted, corrsFormatted,EFormatted,spacePts,width,height,FFormattedCLEAN,FCLEAN ] = generateF(0 ,0, 1,0,1,2,outlierratio,1,1024,768 ,0,0 );

matches=[corrs{1,1} ; corrs{2,1}];
MD=F{1,1};
MC=FFormattedCLEAN{2,1};

[bestInliers, bestF, residuals, meaner,varer,meder,numins] = sampsonF(MC,matches)